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Document MT0605P.2018.E
© Xsens Technologies B.V.
MTi User Manual
3.2 MTi 100-series
The MTi-100 series is the high-performance product
range of the MTi product portfolio, with accuracies
surpassing conventional MEMS AHRS’s, because of
the use of superior gyroscopes and a new optimization
filter, going beyond (Extended) Kalman Filter
implementations. In addition, the factory calibration is
more accurate repeatable and robust.
The MTi 100-series can be recognized by the dark-
grey base plate and the holes on one side of the
casing. These holes are used for the adaptation of the
inside air pressure to atmospheric pressure, required
for a proper functioning of the barometer. Note that the
electronics inside are protected with a vent that keeps
the casing IP67 rated. There are no visual differences
among the MTi-100 IMU, MTi-200 VRU and MTi-300
AHRS, other than their label markings. The MTi-G-710 has an extra SMA connector to allow a
GPS/GNSS antenna to be attached.
3.2.1 MTi-G-710 GNSS/INS
The flagship of the MTi product portfolio is the MTi-G-710 GNSS/INS, a fully integrated solution that
includes an onboard GNSS receiver (GPS, GLONASS, BeiDou, Galileo and QZSS). The MTi-G-710-
GNSS/INS can thus not only give GNSS-enhanced 3D orientation output; it also gives AHRS-
augmented 3D position and velocity outputs. Furthermore, it provides 3D sensors data, such as
acceleration, rate of turn, magnetic field, the PVT (position, velocity, time) data of the GNSS receiver
and static pressure. Data generated from the strapdown integration algorithm (orientation and velocity
increments
∆
q and
∆
v) are available, as along with other processed data, at 400 Hz.
3.2.2 MTi-300 AHRS
The MTi-300 AHRS is a full gyro-enhanced Attitude and Heading Reference System (AHRS). It gives
drift-free roll, pitch and true/magnetic North referenced yaw outputs. It also gives sensors data and
processed data from the strapdown integration algorithm as well as described in section 3.2.1.
3.2.3 MTi-200 VRU
The MTi-200 VRU is a 3D vertical reference unit (VRU) and this unit runs the Xsens sensor fusion
algorithm from the MTi-300 as well. The difference between the data of the MTi-300 and MTi-200 is that
yaw is unreferenced, though the yaw is still much better than just integrating rate of turn when using the
gyro bias estimation techniques available. The MTi-200 also comes with Active Heading Stabilization.
3.2.4 MTi-100 IMU
The MTi-100 IMU is a 3D inertial measurement unit (IMU) that gives 3D acceleration, 3D rate of turn
and 3D earth-magnetic field data. The MTi-100-IMU can also be configured that it gives data generated
by the strapdown integration algorithm (orientation increments
∆
q and velocity increments
∆
v).
Figure 2: MTi 100-series
including the MTi-G-710
